服务器版本ros镜像，包含了CAN通讯以及VNC界面操作

lvhaidong5202024-03-21 9:22

以下镜像包含了ros的moveit、novnc、CAN通讯，并且可以web操作界面:

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19900617/ros-moveit-rviz-gazebo:noetic

docker-compose.yml配置文件如下:

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version: '3'

services:
  ros:
    container_name: ros
    image: 19900617/ros-moveit-rviz-gazebo:noetic
    entrypoint: ["bash", "-c"]
    command:  /root/start.sh
    stdin_open: true
    privileged: true
    tty: true
    environment:
      - DISPLAY=vnc:0.0
    ports:
      - '9000:9000'
    devices:
      - /dev/bus/usb:/dev/bus/usb
    volumes:
      - /etc/udev/rules.d:/etc/udev/rules.d
      - /dev/bus/usb:/dev/bus/usb
      - ./.bashrc:/root/.bashrc
      - ./src:/root/catkin_ws/src
      - ./build.sh:/root/catkin_ws/build.sh
      - ./start.sh:/root/start.sh
      - ~/.pip/pip.conf:/root/.pip/pip.conf
      - ./logs:/root/.ros/log/
      - /etc/localtime:/etc/localtime
    networks:
      - ros-net

  vnc:
    container_name: vnc
    image: theasp/novnc:latest
    shm_size: "4g" 
    ports:
      - '6080:8080'
    environment:
      - TZ=Asia/Shanghai
      - RUN_XTERM=no
      - DISPLAY_WIDTH=1920
      - DISPLAY_HEIGHT=1080
    networks:
      - ros-net

networks:
  ros-net:

start.sh文件信息如下

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#!/bin/bash
echo "Load Ros ENV!"
source /opt/ros/noetic/setup.bash 
roscore
if [! -d "/root/catkin_ws/src" ];then
  mkdir -p ~/catkin_ws/src
fi

也可以修改docker-compose中的command处，变更为: roscore&; 但是默认没有加载了ros的基础环境。需要执行: source /opt/ros/noetic/setup.bash 才可以;

.bashrc文件中的信息如下, 启动roslaunch，也可以手动启动:

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roslaunch web web.launch
roslaunch can_node can.launch
roslaunch kafka_bridge kafka.launch

docker-compose映射了宿主机的usb的CAN通讯操作。目前周立功的CAN已支持，直接拉取镜像即可;